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Update Simulations/WorldMaker/Main.java

Closed Update Simulations/WorldMaker/Main.java
christod-master-patch-98786 into master
Closed Daniel Christoph requested to merge christod-master-patch-98786 into master
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Simulations/WorldMaker/Main.java 0 → 100644
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import java.io.File;
import java.io.FileWriter;
import java.io.IOException;
import java.util.ArrayList;
public class Main {
public static int id = 1;
public static ArrayList<String> obj = new ArrayList<>();
public static void boxSlec(String posx, String posy, String len, String wid, String high){
String box = " <model name='unit_box_"+ id + "'>\n" +
" <pose frame=''>" + posx + " " + posy + " 0 0 0 0</pose>\n" +
" <link name='link'>\n" +
" <inertial>\n" +
" <mass>1</mass>\n" +
" <inertia>\n" +
" <ixx>0.166667</ixx>\n" +
" <ixy>0</ixy>\n" +
" <ixz>0</ixz>\n" +
" <iyy>0.166667</iyy>\n" +
" <iyz>0</iyz>\n" +
" <izz>0.166667</izz>\n" +
" </inertia>\n" +
" </inertial>\n" +
" <collision name='collision'>\n" +
" <geometry>\n" +
" <box>\n" +
" <size>" + len + " " + wid + " " + high + "</size>\n" +
" </box>\n" +
" </geometry>\n" +
" <max_contacts>10</max_contacts>\n" +
" <surface>\n" +
" <contact>\n" +
" <ode/>\n" +
" </contact>\n" +
" <bounce/>\n" +
" <friction>\n" +
" <torsional>\n" +
" <ode/>\n" +
" </torsional>\n" +
" <ode/>\n" +
" </friction>\n" +
" </surface>\n" +
" </collision>\n" +
" <visual name='visual'>\n" +
" <geometry>\n" +
" <box>\n" +
" <size>" + len + " " + wid + " " + high + "</size>\n" +
" </box>\n" +
" </geometry>\n" +
" <material>\n" +
" <script>\n" +
" <name>Gazebo/Grey</name>\n" +
" <uri>file://media/materials/scripts/gazebo.material</uri>\n" +
" </script>\n" +
" </material>\n" +
" </visual>\n" +
" <self_collide>0</self_collide>\n" +
" <enable_wind>0</enable_wind>\n" +
" <kinematic>0</kinematic>\n" +
" </link>\n" +
" </model>";
obj.add(box);
id = id +1;
}
public static void zylSelec(String posx, String posy, String rad, String len){
String zyl = " <model name=\"obstacle_" + id + "\">\n" +
" <pose>" + posx + " " + posy + " 0 0 0 0</pose>\n" +
" <link name=\"link\">\n" +
" <collision name=\"collision\">\n" +
" <geometry>\n" +
" <cylinder>\n" +
" <radius>"+ rad + "</radius>\n" +
" <length>"+ len +"</length>\n" +
" </cylinder>\n" +
" </geometry>\n" +
" </collision>\n" +
"\n" +
" <visual name=\"visual\">\n" +
" <geometry>\n" +
" <cylinder>\n" +
" <radius>" + rad +"</radius>\n" +
" <length>" + len + "</length>\n" +
" </cylinder>\n" +
" </geometry>\n" +
" </visual>\n" +
" </link>\n" +
" </model>" + "\n";
obj.add(zyl);
id = id +1;
}
public static void main(String[] args) {
obj.add("<sdf version='1.4'>\n" +
" <world name='default'>\n" +
" \n" +
" <!-- A global light source -->\n" +
" <include>\n" +
" <uri>model://sun</uri>\n" +
" </include>\n" +
"\n" +
" <!-- A ground plane -->\n" +
" <include>\n" +
" <uri>model://ground_plane</uri>\n" +
" </include>\n" +
"\n" +
" <physics type=\"ode\">\n" +
" <real_time_update_rate>1000.0</real_time_update_rate>\n" +
" <max_step_size>0.001</max_step_size>\n" +
" <real_time_factor>1</real_time_factor>\n" +
" <ode>\n" +
" <solver>\n" +
" <type>quick</type>\n" +
" <iters>150</iters>\n" +
" <precon_iters>0</precon_iters>\n" +
" <sor>1.400000</sor>\n" +
" <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>\n" +
" </solver>\n" +
" <constraints>\n" +
" <cfm>0.00001</cfm>\n" +
" <erp>0.2</erp>\n" +
" <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>\n" +
" <contact_surface_layer>0.01000</contact_surface_layer>\n" +
" </constraints>\n" +
" </ode>\n" +
" </physics>\n" +
" \n" +
" <scene>\n" +
" <ambient>0.4 0.4 0.4 1</ambient>\n" +
" <background>0.7 0.7 0.7 1</background>\n" +
" <shadows>true</shadows>\n" +
" </scene>\n" +
"\n" +
" <gui fullscreen='0'>\n" +
" <camera name='user_camera'>\n" +
" <pose>0.0 0.0 17.0 0 1.5708 0</pose>\n" +
" <view_controller>orbit</view_controller>\n" +
" </camera>\n" +
" </gui>" + "\n");
File file = new File(args[0]);
try {
if (file.createNewFile())
{
System.out.println("File is created!");
} else {
System.out.println("File overwrite!");
}
} catch (IOException e) {
e.printStackTrace();
}
for(int i = 1; i < args.length-1; ) {
if ((args[i].compareTo("zyl") == 0)) {
zylSelec(args[i+1], args[i+2], args[i+3], args[i+4]);
i=i+5;
}
if ((args[i].compareTo("box") == 0)) {
boxSlec(args[i+1], args[i+2], args[i+3], args[i+4], args[i+5]);
i =i+6;
}
}
obj.add(" </world>\n" +
"</sdf>");
FileWriter writer = null;
try {
writer = new FileWriter(file);
for (int i = 0;i<obj.size();i++){
writer.write(obj.get(i));
writer.write("\n");
}
writer.close();
} catch (IOException e) {
e.printStackTrace();
}
}
}